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# EXPERMENT #9

## TUNING AN ANALOG PID CONTROLLER

Aim of the Experiment
This experiment describes a new method for calculating proper values of the PID
parameters Kp, Ti and Td, i.e. controller tuning.
4. Exprimental Setting for Tuning PID Controller Parameters
4.1 Experimental Setting for Step Response of a Permanent Magnet DC Motor
Position
We found Tf = 0.35 sec.
L = 0.2 Tf and T = 0.8 Tf

Kp = 4

## 0.9 * T / L (1+ 0.3/Ls)=Kp * (1+ 1 /Ti*s)

Kp = 0.9 * 4 =3.6
0.3 / L = 1 /Ti
Ti = 0.23 sec.

## We can write that ;

0.6 *T*s^2 + 0.6 * T / L^2 + (2 /L) * 0.6 * T *s = Kp * s + Kp / Ti + Td * Kp *s ^2
If we equal the equation with respect to the s s order we can get the unknowns.
0.6T=Td*Kp
Td = 0.6 * 0.35*0.8 / Kp = 0.035 sec
Kp = 1.2 *T / L = 1.2 * 4 = 4.8
0.6 *T / L ^2 =Kp /Ti
Ti = 0.14 sec .

In 4.1 we have already found the gain value for p control and according to the gain value
we got the results as an image.And the zero to the final position is too short .

In 4.1 we have already found the gain value for p control and according to the gain value
we got the results as an image.And the zero to the final position is too short .

In 4.1 we have already found the gain value for p control and according to the gain value
we got the results as an image.And the zero to the final position is too short .